Namespaces | Functions | Variables
chomp_utils.h File Reference
#include <iostream>
#include <Eigen/Core>
#include <moveit/planning_scene/planning_scene.h>
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Namespaces

namespace  chomp

Functions

static void chomp::jointStateToArray (const moveit::core::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double chomp::normalizeAngle (double angle)
static double chomp::normalizeAnglePositive (double angle)
static double chomp::shortestAngularDistance (double start, double end)

Variables

static const int chomp::DIFF_RULE_LENGTH = 7
static const double chomp::DIFF_RULES [3][DIFF_RULE_LENGTH]


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jun 19 2019 19:24:07